Lawn Mower Controller Path Planning for Unmowed Patches
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Solution Overview
Problem
Existing lawn mowing technologies, such as those described in Japanese Patents Laid-Open Nos. 9-37610 and 2001-344017, face limitations in achieving accurate and flexible path navigation, particularly in areas requiring backward movement and turns, leading to potential patches of grass being left unmowed and restricted operation due to semi-circular path constraints.
Innovation Solution
A work machine controller and computer program that define a contour service path and straight service paths, allowing the work machine to travel along these paths with flexible steering operations, including backward movement, to minimize passes and prevent unmowed areas by determining turning behaviors at intersections between contour and straight service paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the lawn mower uses autonomous navigation with sensor-based orientation detection, then the lawn mower can operate automatically without an operator, but angle detection errors accumulate causing rotation in one direction and reducing positioning accuracy
Solution Approach 1:
The patent employs feedback mechanisms where the lawn mower continuously monitors its position and orientation, detects accumulated errors in angle detection, and applies corrective steering adjustments. The system uses feedback from position sensors and orientation sensors to detect deviations from the intended path and automatically corrects them by steering in opposite directions, thereby preventing error accumulation while maintaining autonomous operation.
2Ease of operation
If the lawn mower follows semi-circular paths at start and end points, then the operation is simplified, but patches of grass may be left unmowed and the mowing coverage is incomplete
Solution Approach 1:
The patent dynamically adjusts the mowing path based on real-time position and orientation data. Instead of following fixed semi-circular paths, the system continuously calculates the optimal path to ensure complete coverage, adjusting the turning radius and direction as needed. This dynamic path planning allows the lawn mower to adapt to its actual position and orientation, ensuring that no patches are left unmowed while maintaining operational simplicity through automated control.
3Ease of operation
If the lawn mower is controlled remotely by an operator observing actual movement, then the operator can control the mowing path, but the operator must stay near the work area and cannot operate during night time
Solution Approach 1:
The patent implements self-service autonomous navigation where the lawn mower independently determines its position, plans its mowing path, and executes the mowing operation without human intervention. The system uses onboard sensors, processors, and navigation algorithms to autonomously navigate the work area, eliminating the need for an operator to be present or to remotely control the machine. This enables operation during night time and in conditions where remote observation is not feasible.
4Productivity
If the lawn mower makes multiple passes on the same point relying on operator memory and feeling, then the mowing can be completed, but the operation cannot be done exactly in the same way and may leave unmowed patches
Solution Approach 1:
The patent replaces the operator's memory and feeling with an automated control system that uses sensors, processors, and pre-planned paths to determine mowing operations. The system electronically records the work area boundaries, calculates optimal paths, and automatically guides the lawn mower along consistent routes. This substitution of mechanical human judgment with electronic control systems ensures path consistency and complete coverage without relying on operator memory or subjective feeling.
Data Source
AI summary
To provide a work machine that can make minimum passes over a target area without leaving any tasks with flexible steering operations. A controller 10 mounted on a motor-driven lawn mower 1 determines intersections between a contour service path and a pair of straight service paths that are adjacent to each other in which the motor-driven lawn mower 1 travels along the straight service paths in opposite directions, and sets (records) a turning behavior including backward movement of the motor-driven lawn mower connecting the adjacent intersections in a configuration file. The information recorded in the configuration file is read during the operation to move the motor-driven lawn mower along the contour service path 50 and the straight service paths on anywhere other than the aforementioned intersections and to turn in accordance with the turning behavior when the motor-driven lawn mower reaches one of the intersections.